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State of the art in movement around a remote point:a review of remote center of motion in robotics

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Frontiers of Mechanical Engineering 2024年第2期19卷 1-28页

作者： Wuxiang ZHANG Zhi WANG ke ma Fei LIU Pengzhi CHENG Xilun DING School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315832China Intelligent Aerospace manufacturing Engineering Technology Co. Ltd.Beijing 100191China

The concept of remote center of motion(RCM)is pivotal in a myriad of robotic applications,encompa-ssing areas such as medical robotics,orientation devices,and exoskeletal *** efficacy of RCM technology is a determining factor in the success of these robotic *** paper offers an exhaustive review of RCM technologies,elaborating on their various methodologies and practical *** delves into the unique characteristics of RCM across different degrees of freedom(DOFs),aiming to distill their fundamental *** addition,this paper categorizes RCM approaches into two primary classifications:design based and control *** are further organized according to their respective DOFs,providing a concise summary of their core *** upon the understanding of RCM’s versatile capabilities,this paper then transitions to an in-depth exploration of its applications across diverse robotic *** this review,we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their *** discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

关键词： remote center of motion mechanism robotics medical robot orientation device exoskeleton

Oxidation Resistance of In Situ Reaction/Hot Pressing Synthesized Ti_(2)AlC-20%TiB_(2) Composite at 600-900℃in Air

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Acta Metallurgica Sinica(English Letters) 2024年第4期37卷 739-748页

作者： Wenting Wang Jingjun Xu Jun Zuo ke ma Yang Li Guangqi He Meishuan Li Shengyang National Laboratory for materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang110016China School of materials Science and Engineering University of Science and Technology of ChinaShenyang110016China

The oxidation behavior and kinetics of Ti_(2)AlC-20vol.%TiB_(2) composite at 600-900℃ in air were *** results showed that the oxidation kinetics of the composite followed a logarithmic law within the given temperature range,which indicated that the composites had excellent oxidation *** selective oxidation of Al in Ti_(2)AlC was greatly enhanced,which facilitated the formation of a continuous and dense protective layer of Al_(2)O_(3).Meanwhile,the existence of molten B_(2)O_(3) inhibited the outward diffusion of Ti and inward diffusion of oxygen,which prevented the growth of anatase TiO_(2) at 600℃ and rutile TiO_(2) at 700-900℃.Therefore,the incorporation of TiB_(2) completely inhibited the abnormally rapid oxidation of bulk Ti_(2)AlC at 600℃ and improved its oxidation resistance at 700-900℃.

关键词： maX phase Ti_(2)AlC-TiB_(2)composite Intermediate temperature oxidation Oxidation kinetics

In Situ Reconfiguration of Assembling Pattern for Modular Continuum Robots

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Journal of Bionic Engineering 2024年第4期21卷 1695-1706页

作者： Jie Zhang Jiannan Cai ke ma Jinzhao Yang Zhigang Wu Haijun Peng Jianing Wu School of Mechanical Engineering Dalian University of TechnologyDalian116024People’s Republic of China School of Advanced manufacturing Sun Yat-Sen UniversityShenzhen518107People’s Republic of China School of Aeronautics and Astronautics Sun Yat-Sen UniversityShenzhen518107People’s Republic of China

Modular continuum robots possess significant versatility across various scenarios;however,conventional assembling methods typically rely on linear connection between *** limitation can impede the robotic interaction capabilities,especially in specific engineering ***,inspired by the assembling pattern between the femur and tibia in a human knee,we proposed a multidirectional assembling *** strategy encompasses linear,oblique,and orthogonal connections,allowing a two-module continuum robot to undergo in-situ reconfiguration into three distinct initial *** anticipate the final configuration resulting from diverse assembling patterns,we employed the positional formulation finite element framework to establish a mechanical model,and the theoretical results reveal that our customizable strategy can offer an effective route for robotic *** showcased diverse assembling patterns for coping with interaction *** experimental results indicate that our modular continuum robot not only reconfigures its initial profile in situ but also enables on-demand regulation of the final *** capabilities provide a foundation for the future development of modular continuum robots,enabling them to be adaptable to diverse environments,particularly in unstructured surroundings.

关键词： Assembling patterns Continuum robot In-situ reconfiguration Tensegrity structure Varying stiffness

Is reactive oxygen species the only way for cancer inhibition over single atom nanomedicine?Autophagy regulation also works

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Chinese Chemical Letters 2024年第6期35卷 474-479页

作者： Yuanyi Zhou ke ma Jinfeng Liu Zirun Zheng Bo Hu Yu Meng Zhizhong Li Mingshan Zhu Postdoctoral Innovation Practice Base The First and Fifth Affiliated Hospital of Jinan UniversityGuangzhou 510632China Guangdong Provincial key Laboratory of Spine and Spinal Cord Reconstruction The Fifth Affiliated Hospital of Jinan University(Heyuan Shenhe People’s Hospital)Heyuan 517465China School of Environment Jinan UniversityGuangzhou 511443China Department of Nephrology The First Affiliated Hospital of Jinan UniversityGuangzhou 510632China

Exploring the therapeutic effect of single atom catalysts beyond reactive oxygen species(ROS)modulation would boost the prosperity of nanomedicine in cancer *** as a vital therapy target offers new options for the control of renal cell carcinoma(RCC)***,Fe single atom-decorated graphene oxide(Fe_(1)-GO)nanosheet is developed to be a feasible autophagy inducer in RCC *** the well-dispersed O-Fe_(1)-O active sites,Fe_(1)-GO kills ACHN cells effectively but maintains acceptable cytotoxicity to the normal podocyte and HK2 ***-depth analyses ascribe the inhibition of ACHN cells to the upregulated autophagy instead of the commonly known catalytic ROS *** in vivo therapeutic effect of Fe_(1)-GO nanomedicine is also validated by the RCC-bearing BALB/c mice model,realizing an 89% reduction of tumor weight and good *** work provides new insights into the design of autophagy regulators as well as potential therapeutic strategies for RCC treatment.

关键词： Fe single atom Autophagy Renal cell carcinoma Graphene oxide Cancer therapy

Electrospun PCL/gelatin/arbutin nanofiber membranes as potent reactive oxygen species scavengers to accelerate cutaneous wound healing

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Regenerative Biomaterials 2024年第3期3卷 43-55页

作者： Mindong Du Shuhan Liu Nihan Lan Ruiming Liang Shengde Liang maoqiang Lan Disen Feng Li Zheng Qingjun Wei ke ma Department of Orthopaedics Trauma and Hand Surgery The First Affliated Hospital of Guangxi Medical UniversityGuangxi Medical UniversityNanning 530521China Guangxi Engineering Center in Biomedical materials for Tissue and Organ Regeneration The First Affliated Hospital of Guangxi Medical UniversityGuangxi Medicar UniversityNanning530021China Guangxi Collaborative Innovation Center for Biomedicine The First Affliated Hospital of Guangxi Medical UniversityGuangxi Medical UniversityNanning 530021China Department of Plastic&Cosmetic Surgery.The First Affliated Hospital of Guangxi Medical University Guangxi Medical UniversityNanning 530021China Pharmaceutical College Guangxi Medical UniversityNanning530021China

The presence of excessive reactive oxygen species(Ros)at a skin wound site is an important factor affecting wound *** scavenging,which regulates the ROS microenvironment,is essential for wound *** this study,we used novel electrospun PCL/gelatin/arbutin(PCL/G/A)nanofibrous membranes as wound dressings,with PCL/gelatin(PCL/G)as the backbone,and plantderived arbutin(hydroquinone-β-D-glucopyranoside,ARB)as an effective antioxidant that scavenges ROos and inhibits bacterial infection in *** loading of ARB increased the mechanical strength of the nanofibres,with a water vapour transmission rate of more than 2500g/(m^(2)×24h),and the water contact angle decreased,indicating that hydrophilicity and air permeability were significantly *** release and degradation experiments showed that the nanofibre membrane controlled the drug release and exhibited favourable *** experiments showed that the PCL/G/A nanofibre membranes were biocompatible,and DPPH and ABTS+radical scavenging experiments indicated that PCL/G/A could effectively scavenge ROS to reflect the antioxidant *** addition,haemostasis experiments showed that PCL/G/A had good haemostatic effects in vitro and in *** vivo animal wound closure and histological staining experiments demonstrated that PCL/G/A increased collagen deposition and remodelled epithelial tissue regeneration while showing good in vivo biocompatibility and *** conclusion,we successfully prepared a multifunctional wound dressing,PCL/G/A,for skin wound healing and investigated its potential role in wound healing,which is beneficial for the clinical translational application of phytomedicines.

关键词： arbutin nanofiber membranes wound dressing reactive oxygen species

MEMS-actuated terahertz metamaterials driven by phase-transition materials

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Frontiers of Optoelectronics 2024年第2期17卷 23-32页

作者： Zhixiang Huang Weipeng Wu Eric Herrmann ke ma Zizwe A.Chase Thomas A.Searles M.Benjamin Jungfleisch Xi Wang Department of materials Science and Engineering College of EngineeringUniversity of DelawareNewarkDE 19716USA Department of Physics and Astronomy College of Arts and SciencesUniversity of DelawareNewarkDE 19716USA Department of Electrical and Computer Engineering College of EngineeringUniversity of Illinois ChicagoChicagoIL 60607USA

The non-ionizing and penetrative characteristics of terahertz(THz)radiation have recently led to its adoption across a variety of *** effectively utilize THz radiation,modulators with precise control are *** most recent THz modulators manipulate the amplitude,frequency,or phase of incident THz radiation,considerably less progress has been made toward THz polarization *** methods for polarization control suffer from high driving voltages,restricted modulation depth,and narrow band capabilities,which hinder device performance and broader ***,an ideal THz modulator that offers high modulation depth along with ease of processing and operation is *** this paper,we propose and realize a THz metamaterial comprised of microelectromechanical systems(MEMS)actuated by the phase-transition material vanadium dioxide(VO_(2)).Simulation and experimental results of the three-dimensional metamaterials show that by leveraging the unique phase-transition attributes of VO_(2),our THz polarization modulator offers notable advancements over existing designs,including broad operation spectrum,high modulation depth,ease of fabrication,ease of operation condition,and continuous modulation *** enhanced features make the system a viable candidate for a range of THz applications,including telecommunications,imaging,and radar systems.

关键词： Metamaterials MEMS THz VO_(2) Phase-transition material

Effects of NLRP3 Inflammasome Mediated Pyroptosis on Cardiovascular Diseases and Intervention Mechanism of Chinese Medicine

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Chinese Journal of Integrative Medicine 2024年第5期30卷 468-479页

作者： ZHONG Yi LI Xin-yue LIANG Tian-jun DING Bao-zhu ma ke-xin REN Wen-xuan LIANG Wen-jie College of Integrated Traditional Chinese and Western Medicine Hebei University of Chinese MedicineHebei Key Laboratory of Integrated Traditional Chinese and Western Medicine in Liver and Kidney DiseasesInstitute of Integrated Traditional Chinese and Western MedicineShijiazhuang 050200China Department of Cardiovascular Internal Medicine the Second Affiliated Hospital of Jiujiang UniversityJiujiangJiangxi Province 332000China Graduate School Hebei Medical UniversityShijiazhuang 050017China Rural Physician College Hebei Medical UniversityShijazhuang 050017China Medical Department the First Hospital of Hebei Medical UniversityShijiazhuang 050030China

Activation of the NOD-like receptor protein 3(NLRP3)inflammasome signaling pathway is an important mechanism underlying myocardial pyroptosis and plays an important role in inflammatory damage to myocardial tissue in patients with cardiovascular diseases(CVDs),such as diabetic cardiomyopathy,ischemia/reperfusion injury,myocardial infarction,heart failure and *** RNAs(nc RNAs)are important regulatory *** Chinese medicine(CM)compounds,including their effective components,can regulate pyroptosis and exert myocardium-protecting *** mechanisms underlying this protection include inhibition of inflammasome protein expression,Toll-like receptor 4–NF-κB signal pathway activation,oxidative stress,endoplasmic reticulum stress(ERS),and mixed lineage kinase 3 expression and the regulation of silent information regulator *** NLRP3 protein is an important regulatory target for CVD prevention and treatment with *** the effects of the interventions mediated by CM and the related mechanisms provides new ideas and perspectives for CVD prevention and treatment.

关键词： pyroptosis cardiovascular diseases Chinese medicine NOD-like receptor protein 3 mechanisms

MoS_(2) nanoflowers and PEDOT:PSS nanocomposite enabling wearable dual-mode pressure sensors

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Science China(Technological Sciences) 2024年第6期67卷 1737-1747页

作者： WANG FengMing YANG WeiJia ma ke SHEN GengZhe SU DaoJian LI BaiJun WANG ShuangPeng QIN BoLong ZHANG Chi XIN Yue CAO XiaoBing HE Xin School of Applied Physics and materials Wuyi UniversityJiangmen529020China Biomaterials R&D Center Zhuhai Institute of Advanced TechnologyChinese Academy of SciencesZhuhai519003China Joint key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoMacao999078China

A versatile sensing platform employing inorganic MoS_(2) nanoflowers and organic poly(3,4-ethylene dioxythiophene):poly(styrene sulfonate)(PEDOT:PSS)has been investigated to develop the resistive and capacitive force-sensitive *** microstructure of the sensing layer heightens the sensitivity and response time of the dual-mode pressure sensors by augmenting electron pathways and inner stress in response to mechanical ***,the capacitive and resistive sensors exhibit sensitivities of 0.37 and 0.12 kPa^(-1),respectively,while demonstrating a remarkable response time of approximately 100 ***,it is noteworthy that the PEDOT:PSS layer exhibits excellent adhesion to polydimethylsiloxane(PDMS)substrates,which contributes to the development of highly robust force-sensitive sensors capable of enduring more than 10000loading/unloading *** combination of MoS_(2)/PEDOT:PSS layers in these dual-mode sensors has shown promising results in detecting human joint movements and subtle physiological ***,the sensors have achieved a remarkable precision rate of 98%in identifying target *** outcomes underscore the significant potential of these sensors for integration into applications such as electronic skin and human-machine interaction.

关键词： MoS_(2)/PEDOT:PSS nanocomposite force-sensitive sensor multi-scaled microstructure physiological signals monitoring object grasping recognition

Stromal lenticule addition keratoplasty with corneal crosslinking for corneal ectasia secondary to FS-LASIK:a case series

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International Journal of Ophthalmology(English edition) 2024年第3期17卷 596-602页

作者： Li-Xiang Wang Ying-Ping Deng Meng-Zhen Xie ke ma Hong-Bo Yin Qiong Wang Rui Gong Jing Tang Department of Ophthalmology West China HospitalSichuan UniversityChengdu 610041Sichuan ProvinceChina West China School of Medicine Sichuan UniversityChengdu 610041Sichuan ProvinceChina

●AIM:To explore the clinical efficacy and safety of stromal lenticule addition keratoplasty(SLAK)with corneal crosslinking(CXL)on patients with corneal ectasia secondary to femtosecond laser-assisted in situ keratomileusis(FS-LASIK).●METHODS:A series of 5 patients undertaking SLAK with CXL for the treatment of corneal ectasia secondary to FS-LASIK were followed for *** lenticules were collected from patients undertaking small incision lenticule extraction(SMILE)for the correction of *** a stromal lenticule was aimed at improving the corneal thickness for the safe application of crosslinking and compensating for the thin cornea to improve its mechanical strength.●RESULTS:All surgeries were conducted successfully with no significant *** best corrected visual acuity(BCVA)ranged from 0.05 to 0.8-2 before *** pre-operational total corneal thickness ranged from 345-404μm and maximum keratometry(Kmax)ranged from 50.8 to *** the combination surgery,both the corneal keratometry(range 55.9 to 92.8)and total corneal thickness(range 413-482μm)significantly *** out of 5 patients had improvement of corneal biomechanical parameters(reflected by stiffness parameter A1 in Corvis ST).However,3 patients showed decreased BCVA after surgery due to the development of irregular astigmatism and transient *** the onset of corneal edema right after SLAK,the corneal topography and thickness generally stabilized after 3mo.●CONCLUSION:SLAK with CXL is a potentially beneficial and safe therapy for advanced corneal *** work needs to address the poor predictability of corneal refractometry and compare the outcomes of different surgical modes.

关键词： corneal ectasia femtosecond laserassisted in situ keratomileusis stromal lenticule addition keratoplasty corneal crosslinking corneal thickness corneal biomechanics